MRPT  2.0.4
List of all members | Public Member Functions | Public Attributes | Private Attributes
mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket Struct Reference

Detailed Description

One unit of data from the scanner (the payload of one UDP DATA packet)

Definition at line 158 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Public Member Functions

uint32_t gps_timestamp () const

Public Attributes

raw_block_t blocks [BLOCKS_PER_PACKET]
uint8_t laser_return_mode
 0x37: strongest, 0x38: last, 0x39: dual return More...
uint8_t velodyne_model_ID
 0x21: HDL-32E, 0x22: VLP-16 More...

Private Attributes

uint32_t m_gps_timestamp
 us from top of hour More...

Member Function Documentation

◆ gps_timestamp()

uint32_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::gps_timestamp ( ) const

Definition at line 173 of file CObservationVelodyneScan.h.

References m_gps_timestamp, and mrpt::toNativeEndianness().

Referenced by mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), and velodyne_scan_to_pointcloud().

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Member Data Documentation

◆ blocks

raw_block_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::blocks[BLOCKS_PER_PACKET]

◆ laser_return_mode

uint8_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::laser_return_mode

0x37: strongest, 0x38: last, 0x39: dual return

Definition at line 169 of file CObservationVelodyneScan.h.

Referenced by velodyne_scan_to_pointcloud().

◆ m_gps_timestamp

uint32_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::m_gps_timestamp

us from top of hour

Definition at line 165 of file CObservationVelodyneScan.h.

Referenced by gps_timestamp().

◆ velodyne_model_ID

uint8_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::velodyne_model_ID

0x21: HDL-32E, 0x22: VLP-16

Definition at line 171 of file CObservationVelodyneScan.h.

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